text: /**
   * @file   EposProfileVelocityMode
   * @brief  
   * @author arwtyxouymz
   * @date   2019-06-04 17:07:38
   */
  
  #ifndef _EposProfileVelocityMode_HPP
  #define _EposProfileVelocityMode_HPP
  
  #include "maxon_epos_driver/control/ControlModeBase.hpp"
  #include "maxon_epos_driver/Device.hpp"
  #include <ros/ros.h>
  
  
  class EposProfileVelocityMode : public ControlModeBase {
  public:
      virtual void activate();
      virtual void write(double &pos, double &vel, double &cur);
  
  private:
      double m_position_cmd;
  };
  
  #endif // _EposProfileVelocityMode_HPP
  